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Add accelerometer to MJX.

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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
This commit is contained in:
Taylor Howell
2024-09-05 06:55:51 -07:00
committed by Copybara-Service
parent 20296466b1
commit fa156ed22f
5 changed files with 47 additions and 9 deletions
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doc/changelog.rst
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@@ -54,7 +54,7 @@ MJX
``SUBTREECOM``, ``CLOCK``.
- Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``,
``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``.
- Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
- Added acceleration/force-dependent sensors: ``ACCELEROMETER``, ``ACTUATORFRC``, ``JOINTACTFRC``.
- Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
- Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
- Added support for :ref:`implicitfast integration<geIntegration>` for all cases except